US8447330B2 - System for wireless location estimation using radio transceivers with polarization diversity - Google Patents

System for wireless location estimation using radio transceivers with polarization diversity Download PDF

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US8447330B2
US8447330B2 US13/455,848 US201213455848A US8447330B2 US 8447330 B2 US8447330 B2 US 8447330B2 US 201213455848 A US201213455848 A US 201213455848A US 8447330 B2 US8447330 B2 US 8447330B2
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profile
signals
mobile node
mobile
module
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US20130023283A1 (en
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Tapas Chakravarty
Chethan Puttanna Konanakera
Prabha Janardan
Mariswamy Girish Chandra
Balamuralidhar Purushothaman
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Tata Consultancy Services Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0252—Radio frequency fingerprinting
    • G01S5/02521—Radio frequency fingerprinting using a radio-map
    • G01S5/02524—Creating or updating the radio-map
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location

Definitions

  • This disclosure relates to the field of wireless transmission and reception. Particularly, this disclosure relates to a system for wireless location estimation using radio transceivers with polarization diversity.
  • Wireless sensor networks are being extensively used to study various aspects of the physical environment which are complex in nature. They are deployed for a wide range of applications such as environmental monitoring, location tracking in retail chains, gathering military intelligence, providing disaster relief, factory instrumentation, hospital management and information tracking, and the like. Many of these applications require the sensing of location of individual nodes.
  • a very popular distance based single hop localization technique is trilateration as disclosed in “ Demonstrating the effects of multi - path propagation and advantages of diversity antenna techniques ”; Proc. IEEE Ant. Propag. Symposium, 2003; K. S. Bialkowski, A. Postula, is a method to find the position of an object based on distance measurements to three objects with known positions.
  • Single-hop localization algorithms can be used in indoor and small scale outdoor applications, however, this approach is not scalable and requires the topology of the network to cover a very limited area and requires precise range measurements. As the density of nodes decrease, measurement errors increase.
  • the most important criterion of a successful location estimation technique is the accuracy of the model.
  • the quality indicators of the deployed system are reliability and the error of estimate (in percentage terms) in the given area of operation.
  • RSSI based localization systems are simple and inexpensive and can be used for indoor environments for estimating the locations. It is known that RSSI based localization algorithms suffer from deleterious effects of severe multipath phenomenon in indoor environments. Elnahrawy et al as disclosed in “ The limits of localization using signal strength: A comparative study ”; Proc. IEEE SECON 2004, 2004. [6] Kamin Whitehouse, David Culler, Macro-Calibration in Sensor/Actuator Networks, Mobile Networks and Applications, Kluwer Academic Publishers 2003, have investigated the fundamental limits of localization for wireless sensor networks using received signal strength.
  • FIG. 1 shows a typical RSSI profile for a ZigBee radio link.
  • the variance in the RSSI values introduces error in the location estimation while the nonmonotonic characteristic gives raise to ambiguity. Since in real life deployment in dense indoor environment, RSSI based distance estimation can lead to multiple distance estimates, there is strong challenge in creating a simple algorithm which will estimate the distance with great accuracy.
  • RSSI can be improved using polarization diversity.
  • propagation characteristics in wireless communication systems are different for vertically and horizontally polarized waves as disclosed in “ Spatial, polarization, and pattern diversity for wireless handheld terminals ”; Dietrich, C. B., Jr.; Dietze, K.; Nealy, J. R.; Stutzman, W. L.; Antennas and Propagation, IEEE Transactions on Volume 49 .
  • Multiple reflections between the transmitter and the receiver lead to depolarization of radio waves, coupling some energy of the transmitted signal into the orthogonal polarized wave. Due to that characteristic of multipath radio channel, vertically/horizontally polarized transmitted waves have also horizontal/vertical component (i.e., additional diversity branch).
  • An object of the disclosure is to accurately estimate the position of a mobile wireless node.
  • Another object of the disclosure is to provide a reliable system and method for estimating the position of a mobile wireless node.
  • the present disclosure envisages a system for wireless location estimation of a mobile node using radio transceivers with polarization diversity, the system comprising:
  • the profile creation module includes quadrature combining module adapted to create a profile by quadrature combining the measured signal strength from the horizontally polarized signal and the vertically polarized signal.
  • the profile creation module includes polynomial fitting computation module adapted to compute a polynomial fit for the derived profile with a pre-defined monotonic curve as a reference curve for further use in localization estimation.
  • the profile trilateration module is a selection based trilateration module with virtual sampling adapted to reduce the error in estimated localization of the node.
  • the present disclosure envisages a method for wireless location estimation of a mobile node using radio transceivers with polarization diversity, the method comprising the following steps:
  • the step of creating a profile includes the step of creating a profile by quadrature combining the measured signal strength from the horizontally polarized signal and the vertically polarized signal.
  • the step of creating a profile includes the step of computing a polynomial fit for the derived profile with a pre-defined monotonic curve as a reference curve for further use in localization estimation.
  • FIG. 1 illustrates a Typical RSSI profile for a ZigBee radio link
  • FIG. 2 illustrates Derived path loss (by measurement) and comparison with free-space path loss
  • FIG. 3 of the accompanying drawings displays the derived curve as well as the predicted curve
  • FIG. 4 illustrates a Schematic implementation of a typical node with dual Radios for the communication node
  • FIG. 5 illustrates the experimental setup for localization, in accordance with the present disclosure.
  • a significant improvement in robust RSSI estimation using dual radio system at the reference nodes by observing simultaneously the received signal strength from a transmitting node, which may be mobile node, employing horizontal and vertically polarized antennas respectively.
  • the measured RSSI at two polarizations at each reference node are combined optimally to generate a derived range versus signal strength profile which has near monotonic characteristics.
  • the derived RSSI profile at each reference node is used as a range calibration data for further estimation of the mobile node location using an enhanced trilateration algorithm.
  • the system for wireless location estimation of a mobile node includes a plurality of fixed transmission modules at pre-defined fixed reference nodes which are distributed over a predetermined geographical area.
  • the fixed reference nodes are adapted to transmit fixed reference signals.
  • the mobile node includes mobile node transmission module adapted to transmit mobile reference signals with respect to the location of the mobile node and the plurality of pre-defined fixed reference nodes,
  • the system further includes a horizontal polarization module adapted to horizontally polarize the transmitted mobile reference signals and a vertical polarization module adapted to vertically polarize the transmitted mobile reference signals,
  • the system in accordance with the present disclosure further includes a receiver module adapted to receive the horizontally polarized signals and vertically polarized signals from the horizontal polarization module and the vertical polarization module respectively.
  • the system in accordance with the present disclosure further includes a measurement module adapted to measure the signal strength corresponding to the received signals,
  • the system in accordance with the present disclosure includes a derivation module which is adapted to derive the range corresponding to the received signals.
  • the profile creation module creates a profile which includes at least the derived range of the received signals.
  • the range of the received signals is measured with reference to the measured signal strength.
  • the system further includes a trilateration module which is adapted to employ a trilateration algorithm to determine the localization of the mobile node using the profile created by the profile creation module, thereby providing the location estimation corresponding to the mobile node.
  • the profile creation module includes a quadrature combining module adapted to create a profile by quadrature combining the strengths of the horizontally polarized signal and vertically polarized signal.
  • the profile creation module in accordance with the present disclosure further includes a polynomial fitting computation module which is adapted to compute a polynomial fit for the derived profile with a pre-defined monotonic curve as a reference curve for further use in the localization estimation.
  • the trilateration module is a selection based trilateration module with virtual sampling.
  • the trilateration module is adapted to reduce the error in estimated localization of the mobile node.
  • the disclosure exploits the polarization diversity by using dual radio system at the reference node to obtain a robust RSSI. This method reduces the variance of multiple RSSI measurements corresponding to a specific distance from the transmitter.
  • An RSSI Vs Distance profile is generated through experimentation for each polarization.
  • FIG. 2 of the accompanying drawings shows S v , S h , and S d for a typical measurement.
  • the derived profile with the quadrature combining of the signal in both polarizations will have a reduced variance corresponding to repeated measurements at a specific distance.
  • the variance is typically within ⁇ 3 db.
  • the derived Signal profile (S d ) is fitted with a (1 ⁇ n) polynomial taking care of this variance to get a reference curve for propagation path loss, S f .
  • the values of the constant depend on the environment. For example, inside a typical office space, y 0 ⁇ 42 to ⁇ 44 dB and a ⁇ 11.5 to ⁇ 12.5
  • FIG. 3 of the accompanying drawings displays the derived curve as well as the predicted curve.
  • the derived path loss (using eq. 1) and the predicted path loss (using eq. 2) are shown.
  • the reference curve obtained by the polynomial fit described above will be used for the new Selection based Trilateration Algorithm with Virtual Sampling (STAVS).
  • STAVS Selection based Trilateration Algorithm with Virtual Sampling
  • the reference profile generated by the polynomial fitting of S d is used for estimating the range corresponding to a derived RSSI value. It has been stated earlier that any derived point measurements of RSSI (using polarization diversity) will generally have a variance and that could be of the order of a maximum of 3 dB. So the ideal value of the RSSI (in the absence of any fading) can be assumed to be randomly distributed within an interval of ⁇ 3 dB. This information is used to generate additional virtual RSSI samples falling within this interval.
  • the distance estimation is done by using eq 2, where we consider that the derived RSSI as per eq. 1 (S d ) is same as S f as in eq. 2. Then using eq. 2, the distance ‘d’ is computed.
  • any triplet combination of the distances d1,d2,d3,d4 can be used to estimate the absolute location of the mobile node. That is the triangles formed by the triplets ⁇ d1, d2, d3>, ⁇ d1, d3, d4>, ⁇ d1, d2, d4>, ⁇ d2, d3, d4> can be used for location estimation of the mobile node using trilateration.
  • the estimation error for a location within the triangle formed by the triplet is less than that corresponding to a location outside the triangle. Therefore if the location estimated from a triplet falls outside the corresponding triangle then that may be discarded because of they are comparatively more noise prone. This is the basic idea behind selection based trilateration.
  • a system of radio transceivers involving a set of reference nodes (fixed with known positions) is deployed to cover an area and a mobile radio within the designated area for which the position needs to be estimated.
  • the receiving nodes will have two receivers with antennas connected in different polarizations (Vertical & Horizontal).
  • Transmitter will have two antennas in different polarizations and can transmit in one polarization at a time.
  • FIG. 4 Implementation of dual radio system for the communication node is shown FIG. 4 .
  • the figure depicts that each reference node has two radio systems one in horizontal polarization and another in vertical polarization.
  • each of the reference nodes has two separate transceivers.
  • One transceiver (Radio 1 ) works in vertical polarization and another transceiver (Radio 2 ) works in horizontal polarization.
  • the processor communicably coupled to radio 1 and radio 2 measures the signal strength from each polarization and combines them using equation 1 and transmits that RSSI values to a sink node while adding its node ID with the information. The next section will discuss about experimental setup of the work being carried out.
  • R 1 , R 2 , R 3 , R 4 are the reference nodes (positions of these reference nodes are known), placed at four corners of the room and Target node for which the position needs to be estimated. All the reference nodes are assumed to be fixed and target node can be moved to obtain new set of its location estimation result (since the position of the target is unknown we can place this node at any place in the given area and run the algorithm to obtain the new target location). All reference and target nodes support dual radio system and are capable of sending the data to sink node. Once data from all the reference node has been received at the sink, the localization algorithm will be run (on the sink node) and the coordinates of the target node will be found out, which is discussed in next section:
  • Step 0 Generation of RSSI profile
  • This step is for calibration and needs to done only once or periodically
  • Step 1 Configure the mobile node to broadcast the specialized message periodically.
  • the RSSI value corresponding to the reference node is routed to a sink node.
  • Step 2 The sink node adds ⁇ 3 dB offset values to the derived RSSI value received from each node and stores as S d (i,1) . . . S d (i, 7) where ‘i’ stands for the ith node and each node represents seven (typical) RSSI values with one measurement, i.e, by incorporating the offset.
  • Step 3 Run the STAVS algorithm at the sink node to estimate the location of the mobile node.
  • the present disclosure envisages a method for wireless location estimation of a mobile node using radio transceivers with polarization diversity.
  • the method in accordance with the present disclosure includes the following steps:
  • the step of creating a profile further includes the step of creating a profile by quadrature combining the measured signal strength from the horizontally polarized signal and the vertically polarized signal.
  • the step of creating a profile further includes the step of computing a polynomial fit for the derived profile with a pre-defined monotonic curve as a reference curve for further use in localization estimation.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)
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  • Position Fixing By Use Of Radio Waves (AREA)
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CA2779126C (en) 2015-12-29
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